function obj = coef_Jacob4_qt_hand_eye_func_new(in1)
coef_J4 = in1(:,4);
coef_J7 = in1(:,7);
coef_J9 = in1(:,9);
coef_J10 = in1(:,10);
coef_J17 = in1(:,17);
coef_J19 = in1(:,19);
coef_J20 = in1(:,20);
coef_J26 = in1(:,26);
coef_J27 = in1(:,27);
coef_J32 = in1(:,32);
coef_J33 = in1(:,33);
coef_J34 = in1(:,34);
coef_J35 = in1(:,35);
coef_J36 = in1(:,36);
coef_J39 = in1(:,39);
coef_J41 = in1(:,41);
coef_J42 = in1(:,42);
coef_J48 = in1(:,48);
coef_J49 = in1(:,49);
coef_J54 = in1(:,54);
coef_J55 = in1(:,55);
coef_J56 = in1(:,56);
coef_J57 = in1(:,57);
coef_J58 = in1(:,58);
coef_J60 = in1(:,60);
coef_J61 = in1(:,61);
coef_J66 = in1(:,66);
coef_J67 = in1(:,67);
coef_J68 = in1(:,68);
coef_J69 = in1(:,69);
coef_J70 = in1(:,70);
coef_J71 = in1(:,71);
coef_J72 = in1(:,72);
coef_J73 = in1(:,73);
coef_J74 = in1(:,74);
coef_J75 = in1(:,75);
obj = [coef_J4,coef_J7,coef_J9,coef_J10.*2.0,coef_J17,coef_J19,coef_J20.*2.0,coef_J26,coef_J27.*2.0,coef_J32.*3.0,coef_J33,coef_J34,coef_J35,coef_J36,coef_J39,coef_J41,coef_J42.*2.0,coef_J48,coef_J49.*2.0,coef_J54.*3.0,coef_J55,coef_J56,coef_J57,coef_J58,coef_J60,coef_J61.*2.0,coef_J66.*3.0,coef_J67,coef_J68,coef_J69,coef_J70,coef_J71.*4.0,coef_J72.*2.0,coef_J73.*2.0,coef_J74.*2.0,coef_J75.*2.0];
end
